IAI America ROBO Cylinder Series - Manual (Page 156)

5. Modbus RTU
148
Modbus
5.5 Direct Writing of Control Information (Queries Using Code 06)
5.5.1 Writing to Registers
(1) Function
These queries change (write) data in registers of a slave.
In case of broadcast, data of registers of the same address of all slaves is changed.
[Refer to the details of device controller register 1 in 4.3.2 (5).]
[Refer to the details of device controller register 2 in 4.3.2 (6).]
[Refer to the details of the position number specification register and position movement
specification register in 4.3.2 (7).]
(2) Start address list
Address Symbol Name Byte
0D00 DRG1 Device control register 1 2
0D01 DRG2 Device control register 2 2
0D03 POSR Position number specification register 2
9800 POSR Position movement specification register 2
The registers above are control command registers. The bits of these registers are assigned to
input ports by PIO patterns when “PIO/Modbus Switch Status (PMSS) (refer to 5.3.13) is set to
“disable Modbus commands (enable PIO commands). These registers can be rewritten when the
Modbus commands are enabled (PIO commands are disabled).